Proceedings of the 2019 4th International Conference on Robotics, Control and Automation最新文献

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Research on Design and Motion Control of Mobile Lower Limb Rehabilitation Robot 移动下肢康复机器人的设计与运动控制研究
Yifeng Guo, Min He, Min Zhang
{"title":"Research on Design and Motion Control of Mobile Lower Limb Rehabilitation Robot","authors":"Yifeng Guo, Min He, Min Zhang","doi":"10.1145/3351180.3351206","DOIUrl":"https://doi.org/10.1145/3351180.3351206","url":null,"abstract":"The paper describes a mobile lower limb rehabilitation robot. It is aimed at patients with lower extremity paralysis. Frist, this paper analyzes the design requirements. Then, selection of motor type by calculation of motor parameters. Finally, the workflow of the mobile lower limb rehabilitation robot weight loss system, exercise system and obstacle avoidance system is introduced in detail.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131684261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Random Error Model and Error Compensation of MEMS Gyroscope MEMS陀螺仪随机误差模型及误差补偿研究
Xiaolin Kan, Xisheng Li, Qing Liu
{"title":"Research on Random Error Model and Error Compensation of MEMS Gyroscope","authors":"Xiaolin Kan, Xisheng Li, Qing Liu","doi":"10.1145/3351180.3351220","DOIUrl":"https://doi.org/10.1145/3351180.3351220","url":null,"abstract":"In order to solve the problem of low precision and large cumulative error of MEMS gyroscope in MTi-28A53G35, the random drift model of the MEMS gyroscope is studied. In this paper, the ARIMA model is used to model the measured data noise of the preprocessed MEMS gyroscope, and then the specific method of reducing the drift error based on the Kalman filtering method based on time series model is discussed in detail. The error compensation results of the measured data of the MEMS gyroscope show that the proposed filtering method can effectively reduce the drift error and improve the accuracy of the MEMS gyroscope in the actual system.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123221685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Research on Key Technology of Measurement and Location of Door and Window Handles Based on Binocular Vision 基于双目视觉的门窗把手测量定位关键技术研究
Cao Hongshuang, Zhong Pei-si, Huang Chaonan
{"title":"Research on Key Technology of Measurement and Location of Door and Window Handles Based on Binocular Vision","authors":"Cao Hongshuang, Zhong Pei-si, Huang Chaonan","doi":"10.1145/3351180.3351192","DOIUrl":"https://doi.org/10.1145/3351180.3351192","url":null,"abstract":"According to the requirement of the door and window handles grasping robot for binocular vision measurement and calibration technology, the mathematical model of binocular vision system is analyzed. The distance and angle of the binocular camera are further verified and analyzed through experiments, so as to ensure that the theoretical resolution of the collected image meets the requirements. Then the calibration of binocular vision system and the analysis of relevant models are studied, and the appropriate calibration methods are analyzed and selected to realize the calibration of binocular vision robot system, so as to provide accurate coordinate data for door and window handles grasping robot and provide theoretical basis for the follow-up grasping work.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127301159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Direct Lift Control of Aircraft Based on Adaptive Fuzzy Dynamic Inverse 基于自适应模糊动态逆的飞机直接升力控制
Hongyu Liang, Zhengyang Li, Xi-chao Su, Weiyi Cao
{"title":"Direct Lift Control of Aircraft Based on Adaptive Fuzzy Dynamic Inverse","authors":"Hongyu Liang, Zhengyang Li, Xi-chao Su, Weiyi Cao","doi":"10.1145/3351180.3351208","DOIUrl":"https://doi.org/10.1145/3351180.3351208","url":null,"abstract":"In order to deal with the problem of direct lift control of aircraft, an adaptive fuzzy dynamic inverse controller is designed. The dynamic inverse controller is used to realize the direct lift control of the aircraft. The fuzzy controller is used to dynamically adjust the parameters of the PID controller to improve the dynamic characteristics and robustness of the aircraft control system. In the initial parameter optimization process of the adaptive fuzzy controller, the ITAE performance index is improved, and the forward error integral term is introduced to add the constraint on the system steady-state error. Through the simulation experiments of simple direct lift control mode and vertical translation control mode, it is found that the fuzzy dynamic inverse controller designed in this paper can achieve direct lift control with certain robustness. And by comparing the simulation results of fuzzy dynamic inverse controller and single dynamic inverse controller, it is found that the dynamic performance of fuzzy dynamic inverse controller is better than that of single dynamic inverse controller.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125919613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation 2019第四届机器人、控制与自动化国际会议论文集
{"title":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","authors":"","doi":"10.1145/3351180","DOIUrl":"https://doi.org/10.1145/3351180","url":null,"abstract":"","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123710470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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